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Armattan Marmotte Betaflight 4 Dump

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Jul 14th, 2019
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  1. dump
  2.  
  3. # version
  4. # Betaflight / SYNERGYF4 (SYN4) 4.0.4 Jun 30 2019 / 15:00:34 (f3a95efa3) MSP API: 1.41
  5.  
  6. # start the command batch
  7. batch start
  8.  
  9. board_name SYNERGYF4
  10. manufacturer_id KLEE
  11.  
  12. # name
  13. name FollowMe
  14.  
  15. # resources
  16. resource BEEPER 1 B04
  17. resource MOTOR 1 B01
  18. resource MOTOR 2 A02
  19. resource MOTOR 3 B00
  20. resource MOTOR 4 A03
  21. resource MOTOR 5 NONE
  22. resource MOTOR 6 NONE
  23. resource MOTOR 7 NONE
  24. resource MOTOR 8 NONE
  25. resource SERVO 1 NONE
  26. resource SERVO 2 NONE
  27. resource SERVO 3 NONE
  28. resource SERVO 4 NONE
  29. resource SERVO 5 NONE
  30. resource SERVO 6 NONE
  31. resource SERVO 7 NONE
  32. resource SERVO 8 NONE
  33. resource PPM 1 B14
  34. resource PWM 1 B14
  35. resource PWM 2 B15
  36. resource PWM 3 C06
  37. resource PWM 4 C07
  38. resource PWM 5 C08
  39. resource PWM 6 C09
  40. resource PWM 7 NONE
  41. resource PWM 8 NONE
  42. resource SONAR_TRIGGER 1 A01
  43. resource SONAR_ECHO 1 A08
  44. resource LED_STRIP 1 A01
  45. resource SERIAL_TX 1 A09
  46. resource SERIAL_TX 2 NONE
  47. resource SERIAL_TX 3 B10
  48. resource SERIAL_TX 4 NONE
  49. resource SERIAL_TX 5 NONE
  50. resource SERIAL_TX 6 C06
  51. resource SERIAL_TX 7 NONE
  52. resource SERIAL_TX 8 NONE
  53. resource SERIAL_TX 9 NONE
  54. resource SERIAL_TX 10 NONE
  55. resource SERIAL_TX 11 NONE
  56. resource SERIAL_TX 12 NONE
  57. resource SERIAL_RX 1 A10
  58. resource SERIAL_RX 2 NONE
  59. resource SERIAL_RX 3 B11
  60. resource SERIAL_RX 4 NONE
  61. resource SERIAL_RX 5 NONE
  62. resource SERIAL_RX 6 C07
  63. resource SERIAL_RX 7 NONE
  64. resource SERIAL_RX 8 NONE
  65. resource SERIAL_RX 9 NONE
  66. resource SERIAL_RX 10 NONE
  67. resource SERIAL_RX 11 NONE
  68. resource SERIAL_RX 12 NONE
  69. resource INVERTER 1 C00
  70. resource INVERTER 2 NONE
  71. resource INVERTER 3 NONE
  72. resource INVERTER 4 NONE
  73. resource INVERTER 5 NONE
  74. resource INVERTER 6 NONE
  75. resource INVERTER 7 NONE
  76. resource INVERTER 8 NONE
  77. resource INVERTER 9 NONE
  78. resource INVERTER 10 NONE
  79. resource INVERTER 11 NONE
  80. resource INVERTER 12 NONE
  81. resource I2C_SCL 1 NONE
  82. resource I2C_SCL 2 NONE
  83. resource I2C_SCL 3 NONE
  84. resource I2C_SDA 1 NONE
  85. resource I2C_SDA 2 NONE
  86. resource I2C_SDA 3 NONE
  87. resource LED 1 B05
  88. resource LED 2 NONE
  89. resource LED 3 NONE
  90. resource RX_BIND 1 NONE
  91. resource RX_BIND_PLUG 1 NONE
  92. resource TRANSPONDER 1 NONE
  93. resource SPI_SCK 1 A05
  94. resource SPI_SCK 2 NONE
  95. resource SPI_SCK 3 C10
  96. resource SPI_MISO 1 A06
  97. resource SPI_MISO 2 NONE
  98. resource SPI_MISO 3 C11
  99. resource SPI_MOSI 1 A07
  100. resource SPI_MOSI 2 NONE
  101. resource SPI_MOSI 3 C12
  102. resource ESCSERIAL 1 B14
  103. resource CAMERA_CONTROL 1 A08
  104. resource ADC_BATT 1 C02
  105. resource ADC_RSSI 1 A00
  106. resource ADC_CURR 1 C01
  107. resource ADC_EXT 1 NONE
  108. resource PINIO 1 B15
  109. resource PINIO 2 NONE
  110. resource PINIO 3 NONE
  111. resource PINIO 4 NONE
  112. resource USB_MSC_PIN 1 NONE
  113. resource FLASH_CS 1 B03
  114. resource OSD_CS 1 A15
  115. resource GYRO_EXTI 1 C04
  116. resource GYRO_EXTI 2 NONE
  117. resource GYRO_CS 1 A04
  118. resource GYRO_CS 2 NONE
  119. resource USB_DETECT 1 C05
  120.  
  121. # timer
  122. timer B14 AF9
  123. # pin B14: TIM12 CH1 (AF9)
  124. timer B15 AF9
  125. # pin B15: TIM12 CH2 (AF9)
  126. timer C06 AF3
  127. # pin C06: TIM8 CH1 (AF3)
  128. timer C07 AF3
  129. # pin C07: TIM8 CH2 (AF3)
  130. timer C08 AF3
  131. # pin C08: TIM8 CH3 (AF3)
  132. timer C09 AF3
  133. # pin C09: TIM8 CH4 (AF3)
  134. timer B00 AF2
  135. # pin B00: TIM3 CH3 (AF2)
  136. timer B01 AF2
  137. # pin B01: TIM3 CH4 (AF2)
  138. timer A03 AF1
  139. # pin A03: TIM2 CH4 (AF1)
  140. timer A02 AF1
  141. # pin A02: TIM2 CH3 (AF1)
  142. timer A01 AF2
  143. # pin A01: TIM5 CH2 (AF2)
  144. timer A08 AF1
  145. # pin A08: TIM1 CH1 (AF1)
  146. timer A09 AF1
  147. # pin A09: TIM1 CH2 (AF1)
  148. timer A10 AF1
  149. # pin A10: TIM1 CH3 (AF1)
  150.  
  151. # dma
  152. dma SPI_TX 1 NONE
  153. dma SPI_TX 2 NONE
  154. dma SPI_TX 3 NONE
  155. dma SPI_RX 1 NONE
  156. dma SPI_RX 2 NONE
  157. dma SPI_RX 3 NONE
  158. dma ADC 1 NONE
  159. dma ADC 2 1
  160. # ADC 2: DMA2 Stream 3 Channel 1
  161. dma ADC 3 NONE
  162. dma UART_TX 1 NONE
  163. dma UART_TX 2 NONE
  164. dma UART_TX 3 NONE
  165. dma UART_TX 4 NONE
  166. dma UART_TX 5 NONE
  167. dma UART_TX 6 NONE
  168. dma UART_TX 7 NONE
  169. dma UART_TX 8 NONE
  170. dma UART_RX 1 NONE
  171. dma UART_RX 2 NONE
  172. dma UART_RX 3 NONE
  173. dma UART_RX 4 NONE
  174. dma UART_RX 5 NONE
  175. dma UART_RX 6 NONE
  176. dma UART_RX 7 NONE
  177. dma UART_RX 8 NONE
  178. dma pin B14 NONE
  179. dma pin B15 NONE
  180. dma pin C06 0
  181. # pin C06: DMA2 Stream 2 Channel 0
  182. dma pin C07 0
  183. # pin C07: DMA2 Stream 2 Channel 0
  184. dma pin C08 0
  185. # pin C08: DMA2 Stream 2 Channel 0
  186. dma pin C09 0
  187. # pin C09: DMA2 Stream 7 Channel 7
  188. dma pin B00 0
  189. # pin B00: DMA1 Stream 7 Channel 5
  190. dma pin B01 0
  191. # pin B01: DMA1 Stream 2 Channel 5
  192. dma pin A03 1
  193. # pin A03: DMA1 Stream 6 Channel 3
  194. dma pin A02 0
  195. # pin A02: DMA1 Stream 1 Channel 3
  196. dma pin A01 0
  197. # pin A01: DMA1 Stream 4 Channel 6
  198. dma pin A08 0
  199. # pin A08: DMA2 Stream 6 Channel 0
  200. dma pin A09 0
  201. # pin A09: DMA2 Stream 6 Channel 0
  202. dma pin A10 0
  203. # pin A10: DMA2 Stream 6 Channel 0
  204.  
  205. # mixer
  206. mixer QUADX
  207.  
  208. mmix reset
  209.  
  210.  
  211. # servo
  212. servo 0 1000 2000 1500 100 -1
  213. servo 1 1000 2000 1500 100 -1
  214. servo 2 1000 2000 1500 100 -1
  215. servo 3 1000 2000 1500 100 -1
  216. servo 4 1000 2000 1500 100 -1
  217. servo 5 1000 2000 1500 100 -1
  218. servo 6 1000 2000 1500 100 -1
  219. servo 7 1000 2000 1500 100 -1
  220.  
  221. # servo mix
  222. smix reset
  223.  
  224.  
  225.  
  226. # feature
  227. feature -RX_PPM
  228. feature -INFLIGHT_ACC_CAL
  229. feature -RX_SERIAL
  230. feature -MOTOR_STOP
  231. feature -SERVO_TILT
  232. feature -SOFTSERIAL
  233. feature -GPS
  234. feature -RANGEFINDER
  235. feature -TELEMETRY
  236. feature -3D
  237. feature -RX_PARALLEL_PWM
  238. feature -RX_MSP
  239. feature -RSSI_ADC
  240. feature -LED_STRIP
  241. feature -DISPLAY
  242. feature -OSD
  243. feature -CHANNEL_FORWARDING
  244. feature -TRANSPONDER
  245. feature -AIRMODE
  246. feature -RX_SPI
  247. feature -SOFTSPI
  248. feature -ESC_SENSOR
  249. feature -ANTI_GRAVITY
  250. feature -DYNAMIC_FILTER
  251. feature RX_SERIAL
  252. feature MOTOR_STOP
  253. feature LED_STRIP
  254. feature OSD
  255. feature AIRMODE
  256. feature ANTI_GRAVITY
  257. feature DYNAMIC_FILTER
  258.  
  259. # beeper
  260. beeper GYRO_CALIBRATED
  261. beeper RX_LOST
  262. beeper RX_LOST_LANDING
  263. beeper DISARMING
  264. beeper ARMING
  265. beeper ARMING_GPS_FIX
  266. beeper ARMING_GPS_NO_FIX
  267. beeper BAT_CRIT_LOW
  268. beeper BAT_LOW
  269. beeper GPS_STATUS
  270. beeper RX_SET
  271. beeper ACC_CALIBRATION
  272. beeper ACC_CALIBRATION_FAIL
  273. beeper READY_BEEP
  274. beeper MULTI_BEEPS
  275. beeper DISARM_REPEAT
  276. beeper ARMED
  277. beeper SYSTEM_INIT
  278. beeper ON_USB
  279. beeper BLACKBOX_ERASE
  280. beeper CRASH_FLIP
  281. beeper CAM_CONNECTION_OPEN
  282. beeper CAM_CONNECTION_CLOSE
  283. beeper RC_SMOOTHING_INIT_FAIL
  284.  
  285. # beacon
  286. beacon RX_LOST
  287. beacon RX_SET
  288.  
  289. # map
  290. map TAER1234
  291.  
  292. # serial
  293. serial 20 1 115200 57600 0 115200
  294. serial 0 64 115200 57600 0 115200
  295. serial 2 2048 115200 57600 0 115200
  296. serial 5 0 115200 57600 0 115200
  297.  
  298. # led
  299. led 0 5,5::CW:10
  300. led 1 4,5::CW:10
  301. led 2 3,5::C:10
  302. led 3 2,5::C:10
  303. led 4 2,10::CI:4
  304. led 5 3,10::CI:4
  305. led 6 4,10::CW:4
  306. led 7 5,10::CW:4
  307. led 8 10,10::CW:4
  308. led 9 11,10::CW:4
  309. led 10 12,10::CI:4
  310. led 11 13,10::CI:4
  311. led 12 13,5::C:10
  312. led 13 12,5::C:10
  313. led 14 11,5::CW:10
  314. led 15 10,5::CW:10
  315. led 16 0,0::C:0
  316. led 17 0,0::C:0
  317. led 18 0,0::C:0
  318. led 19 0,0::C:0
  319. led 20 0,0::C:0
  320. led 21 0,0::C:0
  321. led 22 0,0::C:0
  322. led 23 0,0::C:0
  323. led 24 0,0::C:0
  324. led 25 0,0::C:0
  325. led 26 0,0::C:0
  326. led 27 0,0::C:0
  327. led 28 0,0::C:0
  328. led 29 0,0::C:0
  329. led 30 0,0::C:0
  330. led 31 0,0::C:0
  331.  
  332. # color
  333. color 0 0,0,0
  334. color 1 0,255,255
  335. color 2 0,0,255
  336. color 3 30,0,255
  337. color 4 60,0,255
  338. color 5 90,0,255
  339. color 6 120,0,255
  340. color 7 150,0,255
  341. color 8 180,0,255
  342. color 9 210,0,255
  343. color 10 240,0,255
  344. color 11 270,0,255
  345. color 12 300,0,255
  346. color 13 330,0,255
  347. color 14 0,0,0
  348. color 15 0,0,0
  349.  
  350. # mode_color
  351. mode_color 0 0 1
  352. mode_color 0 1 11
  353. mode_color 0 2 2
  354. mode_color 0 3 13
  355. mode_color 0 4 10
  356. mode_color 0 5 3
  357. mode_color 1 0 5
  358. mode_color 1 1 11
  359. mode_color 1 2 3
  360. mode_color 1 3 13
  361. mode_color 1 4 10
  362. mode_color 1 5 3
  363. mode_color 2 0 10
  364. mode_color 2 1 11
  365. mode_color 2 2 4
  366. mode_color 2 3 13
  367. mode_color 2 4 10
  368. mode_color 2 5 3
  369. mode_color 3 0 8
  370. mode_color 3 1 11
  371. mode_color 3 2 4
  372. mode_color 3 3 13
  373. mode_color 3 4 10
  374. mode_color 3 5 3
  375. mode_color 4 0 7
  376. mode_color 4 1 11
  377. mode_color 4 2 3
  378. mode_color 4 3 13
  379. mode_color 4 4 10
  380. mode_color 4 5 3
  381. mode_color 5 0 0
  382. mode_color 5 1 0
  383. mode_color 5 2 0
  384. mode_color 5 3 0
  385. mode_color 5 4 0
  386. mode_color 5 5 0
  387. mode_color 6 0 6
  388. mode_color 6 1 10
  389. mode_color 6 2 1
  390. mode_color 6 3 0
  391. mode_color 6 4 0
  392. mode_color 6 5 2
  393. mode_color 6 6 3
  394. mode_color 6 7 6
  395. mode_color 6 8 0
  396. mode_color 6 9 0
  397. mode_color 6 10 0
  398. mode_color 7 0 3
  399.  
  400. # aux
  401. aux 0 0 0 1750 2100 0 0
  402. aux 1 1 1 900 1200 0 0
  403. aux 2 2 1 1300 1675 0 0
  404. aux 3 13 3 1500 2100 0 0
  405. aux 4 19 2 1300 2100 0 0
  406. aux 5 0 0 900 900 0 0
  407. aux 6 0 0 900 900 0 0
  408. aux 7 0 0 900 900 0 0
  409. aux 8 0 0 900 900 0 0
  410. aux 9 0 0 900 900 0 0
  411. aux 10 0 0 900 900 0 0
  412. aux 11 0 0 900 900 0 0
  413. aux 12 0 0 900 900 0 0
  414. aux 13 0 0 900 900 0 0
  415. aux 14 0 0 900 900 0 0
  416. aux 15 0 0 900 900 0 0
  417. aux 16 0 0 900 900 0 0
  418. aux 17 0 0 900 900 0 0
  419. aux 18 0 0 900 900 0 0
  420. aux 19 0 0 900 900 0 0
  421.  
  422. # adjrange
  423. adjrange 0 0 0 900 900 0 0 0 0
  424. adjrange 1 0 0 900 900 0 0 0 0
  425. adjrange 2 0 0 900 900 0 0 0 0
  426. adjrange 3 0 0 900 900 0 0 0 0
  427. adjrange 4 0 0 900 900 0 0 0 0
  428. adjrange 5 0 0 900 900 0 0 0 0
  429. adjrange 6 0 0 900 900 0 0 0 0
  430. adjrange 7 0 0 900 900 0 0 0 0
  431. adjrange 8 0 0 900 900 0 0 0 0
  432. adjrange 9 0 0 900 900 0 0 0 0
  433. adjrange 10 0 0 900 900 0 0 0 0
  434. adjrange 11 0 0 900 900 0 0 0 0
  435. adjrange 12 0 0 900 900 0 0 0 0
  436. adjrange 13 0 0 900 900 0 0 0 0
  437. adjrange 14 0 0 900 900 0 0 0 0
  438. adjrange 15 0 0 900 900 0 0 0 0
  439. adjrange 16 0 0 900 900 0 0 0 0
  440. adjrange 17 0 0 900 900 0 0 0 0
  441. adjrange 18 0 0 900 900 0 0 0 0
  442. adjrange 19 0 0 900 900 0 0 0 0
  443. adjrange 20 0 0 900 900 0 0 0 0
  444. adjrange 21 0 0 900 900 0 0 0 0
  445. adjrange 22 0 0 900 900 0 0 0 0
  446. adjrange 23 0 0 900 900 0 0 0 0
  447. adjrange 24 0 0 900 900 0 0 0 0
  448. adjrange 25 0 0 900 900 0 0 0 0
  449. adjrange 26 0 0 900 900 0 0 0 0
  450. adjrange 27 0 0 900 900 0 0 0 0
  451. adjrange 28 0 0 900 900 0 0 0 0
  452. adjrange 29 0 0 900 900 0 0 0 0
  453.  
  454. # rxrange
  455. rxrange 0 1000 2000
  456. rxrange 1 1000 2000
  457. rxrange 2 1000 2000
  458. rxrange 3 1000 2000
  459.  
  460. # vtx
  461. vtx 0 0 0 0 900 900
  462. vtx 1 0 0 0 900 900
  463. vtx 2 0 0 0 900 900
  464. vtx 3 0 0 0 900 900
  465. vtx 4 0 0 0 900 900
  466. vtx 5 0 0 0 900 900
  467. vtx 6 0 0 0 900 900
  468. vtx 7 0 0 0 900 900
  469. vtx 8 0 0 0 900 900
  470. vtx 9 0 0 0 900 900
  471.  
  472. # rxfail
  473. rxfail 0 a
  474. rxfail 1 a
  475. rxfail 2 a
  476. rxfail 3 a
  477. rxfail 4 h
  478. rxfail 5 h
  479. rxfail 6 h
  480. rxfail 7 h
  481. rxfail 8 h
  482. rxfail 9 h
  483. rxfail 10 h
  484. rxfail 11 h
  485. rxfail 12 h
  486. rxfail 13 h
  487. rxfail 14 h
  488. rxfail 15 h
  489. rxfail 16 h
  490. rxfail 17 h
  491.  
  492. # display_name
  493. display_name -
  494.  
  495. # master
  496. set gyro_hardware_lpf = NORMAL
  497. set gyro_sync_denom = 1
  498. set gyro_lowpass_type = BIQUAD
  499. set gyro_lowpass_hz = 150
  500. set gyro_lowpass2_type = PT1
  501. set gyro_lowpass2_hz = 150
  502. set gyro_notch1_hz = 0
  503. set gyro_notch1_cutoff = 0
  504. set gyro_notch2_hz = 0
  505. set gyro_notch2_cutoff = 0
  506. set gyro_calib_duration = 125
  507. set gyro_calib_noise_limit = 48
  508. set gyro_offset_yaw = 0
  509. set gyro_overflow_detect = ALL
  510. set yaw_spin_recovery = ON
  511. set yaw_spin_threshold = 1950
  512. set gyro_to_use = FIRST
  513. set dyn_notch_range = AUTO
  514. set dyn_notch_width_percent = 8
  515. set dyn_notch_q = 120
  516. set dyn_notch_min_hz = 150
  517. set dyn_lpf_gyro_min_hz = 150
  518. set dyn_lpf_gyro_max_hz = 450
  519. set gyro_filter_debug_axis = ROLL
  520. set acc_hardware = AUTO
  521. set acc_lpf_hz = 10
  522. set acc_trim_pitch = 0
  523. set acc_trim_roll = 0
  524. set acc_calibration = -80,-2,335
  525. set mid_rc = 1500
  526. set min_check = 1050
  527. set max_check = 1900
  528. set rssi_channel = 0
  529. set rssi_src_frame_errors = OFF
  530. set rssi_scale = 100
  531. set rssi_offset = 0
  532. set rssi_invert = OFF
  533. set rc_interp = AUTO
  534. set rc_interp_ch = RPYT
  535. set rc_interp_int = 19
  536. set rc_smoothing_type = FILTER
  537. set rc_smoothing_input_hz = 0
  538. set rc_smoothing_derivative_hz = 0
  539. set rc_smoothing_debug_axis = ROLL
  540. set rc_smoothing_input_type = BIQUAD
  541. set rc_smoothing_derivative_type = BIQUAD
  542. set rc_smoothing_auto_smoothness = 10
  543. set fpv_mix_degrees = 0
  544. set max_aux_channels = 14
  545. set serialrx_provider = SBUS
  546. set serialrx_inverted = OFF
  547. set spektrum_sat_bind = 0
  548. set spektrum_sat_bind_autoreset = ON
  549. set airmode_start_throttle_percent = 25
  550. set rx_min_usec = 885
  551. set rx_max_usec = 2115
  552. set serialrx_halfduplex = OFF
  553. set adc_device = 2
  554. set adc_vrefint_calibration = 0
  555. set adc_tempsensor_calibration30 = 0
  556. set adc_tempsensor_calibration110 = 0
  557. set input_filtering_mode = OFF
  558. set blackbox_p_ratio = 32
  559. set blackbox_device = SPIFLASH
  560. set blackbox_record_acc = ON
  561. set blackbox_mode = NORMAL
  562. set min_throttle = 1000
  563. set max_throttle = 2000
  564. set min_command = 1000
  565. set dshot_idle_value = 100
  566. set dshot_burst = OFF
  567. set dshot_bidir = OFF
  568. set use_unsynced_pwm = ON
  569. set motor_pwm_protocol = DSHOT600
  570. set motor_pwm_rate = 16000
  571. set motor_pwm_inversion = OFF
  572. set motor_poles = 14
  573. set thr_corr_value = 0
  574. set thr_corr_angle = 800
  575. set failsafe_delay = 4
  576. set failsafe_off_delay = 10
  577. set failsafe_throttle = 1000
  578. set failsafe_switch_mode = STAGE1
  579. set failsafe_throttle_low_delay = 100
  580. set failsafe_procedure = DROP
  581. set align_board_roll = 0
  582. set align_board_pitch = 0
  583. set align_board_yaw = 0
  584. set gimbal_mode = NORMAL
  585. set bat_capacity = 1550
  586. set vbat_max_cell_voltage = 440
  587. set vbat_full_cell_voltage = 410
  588. set vbat_min_cell_voltage = 330
  589. set vbat_warning_cell_voltage = 350
  590. set vbat_hysteresis = 1
  591. set current_meter = ADC
  592. set battery_meter = ADC
  593. set vbat_detect_cell_voltage = 300
  594. set use_vbat_alerts = ON
  595. set use_cbat_alerts = OFF
  596. set cbat_alert_percent = 10
  597. set vbat_cutoff_percent = 100
  598. set force_battery_cell_count = 0
  599. set vbat_lpf_period = 30
  600. set ibat_lpf_period = 10
  601. set vbat_scale = 101
  602. set vbat_divider = 10
  603. set vbat_multiplier = 1
  604. set ibata_scale = 400
  605. set ibata_offset = 0
  606. set ibatv_scale = 0
  607. set ibatv_offset = 0
  608. set beeper_inversion = ON
  609. set beeper_od = OFF
  610. set beeper_frequency = 0
  611. set beeper_dshot_beacon_tone = 1
  612. set yaw_motors_reversed = OFF
  613. set crashflip_motor_percent = 0
  614. set 3d_deadband_low = 1406
  615. set 3d_deadband_high = 1514
  616. set 3d_neutral = 1460
  617. set 3d_deadband_throttle = 50
  618. set 3d_limit_low = 1000
  619. set 3d_limit_high = 2000
  620. set 3d_switched_mode = OFF
  621. set servo_center_pulse = 1500
  622. set servo_pwm_rate = 50
  623. set servo_lowpass_hz = 0
  624. set tri_unarmed_servo = ON
  625. set channel_forwarding_start = 4
  626. set reboot_character = 82
  627. set serial_update_rate_hz = 100
  628. set imu_dcm_kp = 2500
  629. set imu_dcm_ki = 0
  630. set small_angle = 25
  631. set auto_disarm_delay = 5
  632. set gyro_cal_on_first_arm = OFF
  633. set gps_provider = NMEA
  634. set gps_sbas_mode = AUTO
  635. set gps_auto_config = ON
  636. set gps_auto_baud = OFF
  637. set gps_ublox_use_galileo = OFF
  638. set gps_set_home_point_once = OFF
  639. set gps_rescue_angle = 32
  640. set gps_rescue_initial_alt = 50
  641. set gps_rescue_descent_dist = 200
  642. set gps_rescue_ground_speed = 2000
  643. set gps_rescue_throttle_p = 150
  644. set gps_rescue_throttle_i = 20
  645. set gps_rescue_throttle_d = 50
  646. set gps_rescue_velocity_p = 80
  647. set gps_rescue_velocity_i = 20
  648. set gps_rescue_velocity_d = 15
  649. set gps_rescue_yaw_p = 40
  650. set gps_rescue_throttle_min = 1200
  651. set gps_rescue_throttle_max = 1600
  652. set gps_rescue_throttle_hover = 1280
  653. set gps_rescue_sanity_checks = RESCUE_SANITY_ON
  654. set gps_rescue_min_sats = 8
  655. set gps_rescue_min_dth = 100
  656. set gps_rescue_allow_arming_without_fix = OFF
  657. set deadband = 0
  658. set yaw_deadband = 0
  659. set yaw_control_reversed = OFF
  660. set pid_process_denom = 1
  661. set runaway_takeoff_prevention = ON
  662. set runaway_takeoff_deactivate_delay = 500
  663. set runaway_takeoff_deactivate_throttle_percent = 20
  664. set thrust_linear = 0
  665. set transient_throttle_limit = 15
  666. set tlm_inverted = OFF
  667. set tlm_halfduplex = ON
  668. set frsky_default_lat = 0
  669. set frsky_default_long = 0
  670. set frsky_gps_format = 0
  671. set frsky_unit = IMPERIAL
  672. set frsky_vfas_precision = 0
  673. set hott_alarm_int = 5
  674. set pid_in_tlm = OFF
  675. set report_cell_voltage = OFF
  676. set ibus_sensor = 1,2,3,0,0,0,0,0,0,0,0,0,0,0,0
  677. set mavlink_mah_as_heading_divisor = 0
  678. set telemetry_disabled_voltage = OFF
  679. set telemetry_disabled_current = OFF
  680. set telemetry_disabled_fuel = OFF
  681. set telemetry_disabled_mode = OFF
  682. set telemetry_disabled_acc_x = OFF
  683. set telemetry_disabled_acc_y = OFF
  684. set telemetry_disabled_acc_z = OFF
  685. set telemetry_disabled_pitch = OFF
  686. set telemetry_disabled_roll = OFF
  687. set telemetry_disabled_heading = OFF
  688. set telemetry_disabled_altitude = OFF
  689. set telemetry_disabled_vario = OFF
  690. set telemetry_disabled_lat_long = OFF
  691. set telemetry_disabled_ground_speed = OFF
  692. set telemetry_disabled_distance = OFF
  693. set telemetry_disabled_esc_current = ON
  694. set telemetry_disabled_esc_voltage = ON
  695. set telemetry_disabled_esc_rpm = ON
  696. set telemetry_disabled_esc_temperature = ON
  697. set telemetry_disabled_temperature = OFF
  698. set ledstrip_visual_beeper = OFF
  699. set ledstrip_visual_beeper_color = WHITE
  700. set ledstrip_grb_rgb = GRB
  701. set ledstrip_profile = STATUS
  702. set ledstrip_race_color = ORANGE
  703. set ledstrip_beacon_color = WHITE
  704. set ledstrip_beacon_period_ms = 500
  705. set ledstrip_beacon_percent = 50
  706. set ledstrip_beacon_armed_only = OFF
  707. set osd_units = METRIC
  708. set osd_warn_arming_disable = ON
  709. set osd_warn_batt_not_full = ON
  710. set osd_warn_batt_warning = ON
  711. set osd_warn_batt_critical = ON
  712. set osd_warn_visual_beeper = ON
  713. set osd_warn_crash_flip = ON
  714. set osd_warn_esc_fail = ON
  715. set osd_warn_core_temp = ON
  716. set osd_warn_rc_smoothing = ON
  717. set osd_warn_fail_safe = ON
  718. set osd_warn_launch_control = ON
  719. set osd_warn_no_gps_rescue = ON
  720. set osd_warn_gps_rescue_disabled = ON
  721. set osd_rssi_alarm = 20
  722. set osd_cap_alarm = 2200
  723. set osd_alt_alarm = 100
  724. set osd_esc_temp_alarm = -128
  725. set osd_esc_rpm_alarm = -1
  726. set osd_esc_current_alarm = -1
  727. set osd_core_temp_alarm = 70
  728. set osd_ah_max_pit = 20
  729. set osd_ah_max_rol = 40
  730. set osd_ah_invert = OFF
  731. set osd_tim1 = 2560
  732. set osd_tim2 = 2561
  733. set osd_vbat_pos = 14629
  734. set osd_rssi_pos = 14500
  735. set osd_link_quality_pos = 234
  736. set osd_tim_1_pos = 234
  737. set osd_tim_2_pos = 234
  738. set osd_remaining_time_estimate_pos = 14636
  739. set osd_flymode_pos = 234
  740. set osd_anti_gravity_pos = 234
  741. set osd_g_force_pos = 234
  742. set osd_throttle_pos = 234
  743. set osd_vtx_channel_pos = 14614
  744. set osd_crosshairs_pos = 14541
  745. set osd_ah_sbar_pos = 206
  746. set osd_ah_pos = 14414
  747. set osd_current_pos = 234
  748. set osd_mah_drawn_pos = 234
  749. set osd_motor_diag_pos = 234
  750. set osd_craft_name_pos = 234
  751. set osd_display_name_pos = 234
  752. set osd_gps_speed_pos = 234
  753. set osd_gps_lon_pos = 234
  754. set osd_gps_lat_pos = 234
  755. set osd_gps_sats_pos = 234
  756. set osd_home_dir_pos = 234
  757. set osd_home_dist_pos = 234
  758. set osd_flight_dist_pos = 234
  759. set osd_compass_bar_pos = 14410
  760. set osd_altitude_pos = 234
  761. set osd_pid_roll_pos = 234
  762. set osd_pid_pitch_pos = 234
  763. set osd_pid_yaw_pos = 234
  764. set osd_debug_pos = 234
  765. set osd_power_pos = 234
  766. set osd_pidrate_profile_pos = 234
  767. set osd_warnings_pos = 14665
  768. set osd_avg_cell_voltage_pos = 14597
  769. set osd_pit_ang_pos = 234
  770. set osd_rol_ang_pos = 234
  771. set osd_battery_usage_pos = 234
  772. set osd_disarmed_pos = 14506
  773. set osd_nheading_pos = 234
  774. set osd_esc_tmp_pos = 234
  775. set osd_esc_rpm_pos = 234
  776. set osd_esc_rpm_freq_pos = 234
  777. set osd_rtc_date_time_pos = 234
  778. set osd_adjustment_range_pos = 234
  779. set osd_flip_arrow_pos = 234
  780. set osd_core_temp_pos = 234
  781. set osd_log_status_pos = 234
  782. set osd_stick_overlay_left_pos = 234
  783. set osd_stick_overlay_right_pos = 234
  784. set osd_stick_overlay_radio_mode = 2
  785. set osd_stat_rtc_date_time = OFF
  786. set osd_stat_tim_1 = OFF
  787. set osd_stat_tim_2 = ON
  788. set osd_stat_max_spd = ON
  789. set osd_stat_max_dist = OFF
  790. set osd_stat_min_batt = ON
  791. set osd_stat_endbatt = OFF
  792. set osd_stat_battery = OFF
  793. set osd_stat_min_rssi = ON
  794. set osd_stat_max_curr = ON
  795. set osd_stat_used_mah = ON
  796. set osd_stat_max_alt = OFF
  797. set osd_stat_bbox = ON
  798. set osd_stat_bb_no = ON
  799. set osd_stat_max_g_force = OFF
  800. set osd_stat_max_esc_temp = OFF
  801. set osd_stat_max_esc_rpm = OFF
  802. set osd_stat_min_link_quality = OFF
  803. set osd_stat_flight_dist = OFF
  804. set osd_stat_max_fft = OFF
  805. set osd_profile = 1
  806. set system_hse_mhz = 8
  807. set task_statistics = ON
  808. set debug_mode = NONE
  809. set rate_6pos_switch = OFF
  810. set cpu_overclock = OFF
  811. set pwr_on_arm_grace = 5
  812. set scheduler_optimize_rate = OFF
  813. set vtx_band = 4
  814. set vtx_channel = 4
  815. set vtx_power = 2
  816. set vtx_low_power_disarm = OFF
  817. set vtx_freq = 5800
  818. set vtx_pit_mode_freq = 0
  819. set vtx_halfduplex = ON
  820. set vcd_video_system = AUTO
  821. set vcd_h_offset = 0
  822. set vcd_v_offset = 0
  823. set max7456_clock = DEFAULT
  824. set max7456_spi_bus = 3
  825. set max7456_preinit_opu = OFF
  826. set displayport_msp_col_adjust = 0
  827. set displayport_msp_row_adjust = 0
  828. set displayport_max7456_col_adjust = 0
  829. set displayport_max7456_row_adjust = 0
  830. set displayport_max7456_inv = OFF
  831. set displayport_max7456_blk = 0
  832. set displayport_max7456_wht = 2
  833. set esc_sensor_halfduplex = OFF
  834. set esc_sensor_current_offset = 0
  835. set led_inversion = 0
  836. set dashboard_i2c_bus = 2
  837. set dashboard_i2c_addr = 60
  838. set camera_control_mode = HARDWARE_PWM
  839. set camera_control_ref_voltage = 330
  840. set camera_control_key_delay = 180
  841. set camera_control_internal_resistance = 470
  842. set camera_control_inverted = OFF
  843. set rangefinder_hardware = NONE
  844. set pinio_config = 1,1,1,1
  845. set pinio_box = 39,255,255,255
  846. set usb_hid_cdc = OFF
  847. set usb_msc_pin_pullup = ON
  848. set flash_spi_bus = 3
  849. set rcdevice_init_dev_attempts = 6
  850. set rcdevice_init_dev_attempt_interval = 1000
  851. set rcdevice_protocol_version = 0
  852. set rcdevice_feature = 0
  853. set gyro_1_bustype = SPI
  854. set gyro_1_spibus = 1
  855. set gyro_1_i2cBus = 0
  856. set gyro_1_i2c_address = 0
  857. set gyro_1_sensor_align = CW0FLIP
  858. set gyro_2_bustype = SPI
  859. set gyro_2_spibus = 1
  860. set gyro_2_i2cBus = 0
  861. set gyro_2_i2c_address = 0
  862. set gyro_2_sensor_align = DEFAULT
  863. set timezone_offset_minutes = 0
  864. set gyro_rpm_notch_harmonics = 3
  865. set gyro_rpm_notch_q = 500
  866. set gyro_rpm_notch_min = 100
  867. set dterm_rpm_notch_harmonics = 0
  868. set dterm_rpm_notch_q = 500
  869. set dterm_rpm_notch_min = 100
  870. set rpm_notch_lpf = 150
  871.  
  872. # profile
  873. profile 0
  874.  
  875. set dyn_lpf_dterm_min_hz = 150
  876. set dyn_lpf_dterm_max_hz = 250
  877. set dterm_lowpass_type = BIQUAD
  878. set dterm_lowpass_hz = 150
  879. set dterm_lowpass2_type = PT1
  880. set dterm_lowpass2_hz = 100
  881. set dterm_notch_hz = 0
  882. set dterm_notch_cutoff = 0
  883. set vbat_pid_gain = OFF
  884. set pid_at_min_throttle = ON
  885. set anti_gravity_mode = SMOOTH
  886. set anti_gravity_threshold = 250
  887. set anti_gravity_gain = 5000
  888. set feedforward_transition = 0
  889. set acc_limit_yaw = 0
  890. set acc_limit = 0
  891. set crash_dthreshold = 50
  892. set crash_gthreshold = 400
  893. set crash_setpoint_threshold = 350
  894. set crash_time = 500
  895. set crash_delay = 0
  896. set crash_recovery_angle = 10
  897. set crash_recovery_rate = 100
  898. set crash_limit_yaw = 200
  899. set crash_recovery = OFF
  900. set iterm_rotation = OFF
  901. set smart_feedforward = OFF
  902. set iterm_relax = RP
  903. set iterm_relax_type = SETPOINT
  904. set iterm_relax_cutoff = 20
  905. set iterm_windup = 100
  906. set iterm_limit = 400
  907. set pidsum_limit = 500
  908. set pidsum_limit_yaw = 400
  909. set yaw_lowpass_hz = 0
  910. set throttle_boost = 5
  911. set throttle_boost_cutoff = 15
  912. set acro_trainer_angle_limit = 20
  913. set acro_trainer_lookahead_ms = 50
  914. set acro_trainer_debug_axis = ROLL
  915. set acro_trainer_gain = 75
  916. set p_pitch = 46
  917. set i_pitch = 70
  918. set d_pitch = 38
  919. set f_pitch = 75
  920. set p_roll = 42
  921. set i_roll = 60
  922. set d_roll = 35
  923. set f_roll = 70
  924. set p_yaw = 35
  925. set i_yaw = 100
  926. set d_yaw = 0
  927. set f_yaw = 0
  928. set angle_level_strength = 50
  929. set horizon_level_strength = 50
  930. set horizon_transition = 75
  931. set level_limit = 55
  932. set horizon_tilt_effect = 75
  933. set horizon_tilt_expert_mode = OFF
  934. set abs_control_gain = 0
  935. set abs_control_limit = 90
  936. set abs_control_error_limit = 20
  937. set abs_control_cutoff = 11
  938. set use_integrated_yaw = OFF
  939. set integrated_yaw_relax = 200
  940. set d_min_roll = 20
  941. set d_min_pitch = 22
  942. set d_min_yaw = 0
  943. set d_min_boost_gain = 27
  944. set d_min_advance = 20
  945. set motor_output_limit = 100
  946. set auto_profile_cell_count = 0
  947. set launch_control_mode = NORMAL
  948. set launch_trigger_allow_reset = ON
  949. set launch_trigger_throttle_percent = 20
  950. set launch_angle_limit = 0
  951. set launch_control_gain = 40
  952.  
  953. # rateprofile
  954. rateprofile 0
  955.  
  956. set thr_mid = 50
  957. set thr_expo = 0
  958. set rates_type = BETAFLIGHT
  959. set roll_rc_rate = 100
  960. set pitch_rc_rate = 100
  961. set yaw_rc_rate = 100
  962. set roll_expo = 0
  963. set pitch_expo = 0
  964. set yaw_expo = 0
  965. set roll_srate = 70
  966. set pitch_srate = 70
  967. set yaw_srate = 70
  968. set tpa_rate = 50
  969. set tpa_breakpoint = 1500
  970. set tpa_mode = D
  971. set throttle_limit_type = OFF
  972. set throttle_limit_percent = 100
  973. set roll_rate_limit = 1998
  974. set pitch_rate_limit = 1998
  975. set yaw_rate_limit = 1998
  976.  
  977. # end the command batch
  978. batch end
  979.  
  980. #
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